| 0,0 → 1,655 |
|---|
| /*####################################################################################### |
| MK3Mag 3D-Magnet sensor |
| !!! THIS IS NOT FREE SOFTWARE !!! |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 05.2008 Holger Buss |
| // + Thanks to Ilja Fähnrich (P_Latzhalter) |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
| // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
| // + In case of doubt please contact: info@MikroKopter.de |
| // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <avr/wdt.h> |
| #include <avr/pgmspace.h> |
| #include <stdarg.h> |
| #include <string.h> |
| #include "main.h" |
| #include "menu.h" |
| #include "uart.h" |
| #include "timer0.h" |
| #include "twislave.h" |
| |
| // slave addresses |
| #define FC_ADDRESS 1 |
| #define NC_ADDRESS 2 |
| #define MK3MAG_ADDRESS 3 |
| |
| #define FALSE 0 |
| #define TRUE 1 |
| |
| // keep buffers as small as possible |
| #define TXD_BUFFER_LEN 100 |
| #define RXD_BUFFER_LEN 30 |
| |
| volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
| volatile uint8_t rxd_buffer_locked = FALSE; |
| volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
| volatile uint8_t txd_complete = TRUE; |
| volatile uint8_t ReceivedBytes = 0; |
| volatile uint8_t *pRxData = 0; |
| volatile uint8_t RxDataLen = 0; |
| |
| // send flags |
| #define RQST_VERSION_INFO 0x01 |
| #define RQST_DEBUG_DATA 0x02 |
| #define RQST_DEBUG_LABEL 0x04 |
| #define RQST_COMPASS_HEADING 0x08 |
| #define RQST_EXTERN_CTRL 0x10 |
| #define RQST_DISPLAY_DATA 0x20 |
| |
| |
| uint8_t RequestFlags = 0x00; |
| uint8_t RequestDebugLabel = 0; |
| uint8_t ConfirmFrame = 0; |
| |
| uint8_t DisplayLine = 0; |
| |
| uint16_t PC_Connected = 0; |
| uint16_t FC_Connected = 0; |
| |
| |
| DebugOut_t DebugOut; |
| ExternData_t ExternData; |
| ExternControl_t ExternControl; |
| UART_VersionInfo_t UART_VersionInfo; |
| |
| uint16_t DebugData_Timer; |
| uint16_t DebugData_Interval = 500; |
| |
| const prog_uint8_t ANALOG_LABEL[32][16] = |
| { |
| //1234567890123456 |
| "Magnet X ", //0 |
| "Magnet Y ", |
| "Magnet Z ", |
| "RawMagnet X ", |
| "RawMagnet Y ", |
| "RawMagnet Z ", //5 |
| "Attitude Nick ", |
| "Attitude Roll ", |
| "Magnet X Offset ", |
| "Magnet X Range ", |
| "Magnet Y Offset ", //10 |
| "Magnet Y Range ", |
| "Magnet Z Offset ", |
| "Magnet Z Range ", |
| "Calstate ", |
| "Heading ", //15 |
| "User0 ", |
| "User1 ", |
| "Acc X ", |
| "Acc Y ", |
| "Acc Z ", //20 |
| "RawAcc X ", |
| "RawAcc Y ", |
| "RawAcc Z ", |
| "Acc X Offset ", |
| "Acc Y Offset ", //25 |
| "Acc Z Offset ", |
| "Heading X ", |
| "Heading Y ", |
| "Attitude Source ", |
| "I2C Error ", //30 |
| "I2C Okay " |
| }; |
| |
| |
| /****************************************************************/ |
| /* Initialization of the USART0 */ |
| /****************************************************************/ |
| void USART0_Init (void) |
| { |
| uint8_t sreg = SREG; |
| uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * BAUD_RATE) - 1); |
| |
| // disable all interrupts before configuration |
| cli(); |
| |
| // disable RX-Interrupt |
| UCSR0B &= ~(1 << RXCIE0); |
| // disable TX-Interrupt |
| UCSR0B &= ~(1 << TXCIE0); |
| |
| // set direction of RXD0 and TXD0 pins |
| |
| // set RXD0 (PD0) as an input pin tristate |
| DDRD &= ~(1 << DDD0); |
| PORTD &= ~(1 << PORTD0); |
| // set TXD0 (PD1) as an output pin |
| DDRD |= (1 << DDD1); |
| PORTD &= ~(1 << PORTD1); |
| |
| |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR0H = (uint8_t)(ubrr >> 8); |
| UBRR0L = (uint8_t)ubrr; |
| |
| // USART0 Control and Status Register A, B, C |
| |
| // enable double speed operation |
| UCSR0A |= (1 << U2X0); |
| |
| // set asynchronous mode |
| UCSR0C &= ~(1 << UMSEL01); |
| UCSR0C &= ~(1 << UMSEL00); |
| // no parity |
| UCSR0C &= ~(1 << UPM01); |
| UCSR0C &= ~(1 << UPM00); |
| // 1 stop bit |
| UCSR0C &= ~(1 << USBS0); |
| // 8-bit |
| UCSR0B &= ~(1 << UCSZ02); |
| UCSR0C |= (1 << UCSZ01); |
| UCSR0C |= (1 << UCSZ00); |
| |
| // enable receiver and transmitter |
| UCSR0B |= (1 << RXEN0); |
| UCSR0B |= (1 << TXEN0); |
| |
| // flush receive buffer |
| while ( UCSR0A & (1<<RXC0) ) UDR0; |
| |
| // enable RX-Interrupt |
| UCSR0B |= (1 << RXCIE0); |
| // enable TX-Interrupt |
| UCSR0B |= (1 << TXCIE0); |
| |
| // initialize the debug timer |
| DebugData_Timer = SetDelay(DebugData_Interval); |
| |
| // unlock rxd_buffer |
| rxd_buffer_locked = FALSE; |
| pRxData = 0; |
| RxDataLen = 0; |
| |
| // no bytes to send |
| txd_complete = TRUE; |
| |
| |
| UART_VersionInfo.SWMajor = VERSION_MAJOR; |
| UART_VersionInfo.SWMinor = VERSION_MINOR; |
| UART_VersionInfo.SWPatch = VERSION_PATCH; |
| UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| |
| // send version info at startup |
| USART0_putchar ('\n'); |
| USART0_putchar ('C'); |
| USART0_putchar ('P'); |
| USART0_putchar (':'); |
| USART0_putchar ('V'); |
| USART0_putchar ('0' + VERSION_MAJOR); |
| USART0_putchar ('.'); |
| USART0_putchar ('0' + VERSION_MINOR/10); |
| USART0_putchar ('0' + VERSION_MINOR%10); |
| USART0_putchar ('a' + VERSION_PATCH); |
| USART0_putchar ('\n'); |
| |
| // restore global interrupt flags |
| SREG = sreg; |
| } |
| |
| // --------------------------------------------------------------------------------- |
| void USART0_EnableTXD(void) |
| { |
| DDRD |= (1<<DDD1); // set TXD pin as output |
| PORTD &= ~(1 << PORTD1); |
| UCSR0B |= (1 << TXEN0); // enable TX in USART |
| //changing the interrupt flag yields to strange effects |
| //UCSR0B |= (1 << TXCIE0); // enable TX-Interrupt |
| } |
| |
| // --------------------------------------------------------------------------------- |
| void USART0_DisableTXD(void) |
| { |
| while(!txd_complete){ }; |
| //changing the interrupt flag yields to strange effects |
| //UCSR0B &= ~(1 << TXCIE0); // disable TX-Interrupt |
| UCSR0B &= ~(1 << TXEN0); // disable TX in USART |
| DDRD &= ~(1<<DDD1); // set TXD pin as input |
| PORTD &= ~(1 << PORTD1); |
| } |
| |
| /****************************************************************/ |
| /* USART0 transmitter ISR */ |
| /****************************************************************/ |
| ISR(USART_TX_vect) |
| { |
| static uint16_t ptr_txd_buffer = 0; |
| uint8_t tmp_tx; |
| if(!txd_complete) // transmission not completed |
| { |
| ptr_txd_buffer++; // die [0] wurde schon gesendet |
| tmp_tx = txd_buffer[ptr_txd_buffer]; |
| // if terminating character or end of txd buffer was reached |
| if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
| { |
| ptr_txd_buffer = 0; // reset txd pointer |
| txd_complete = TRUE; // stop transmission |
| } |
| UDR0 = tmp_tx; // send current byte will trigger this ISR again |
| } |
| // transmission completed |
| else ptr_txd_buffer = 0; |
| } |
| |
| /****************************************************************/ |
| /* USART0 receiver ISR */ |
| /****************************************************************/ |
| ISR(USART_RX_vect) |
| { |
| static uint16_t crc; |
| uint8_t crc1, crc2; |
| uint8_t c; |
| static uint8_t ptr_rxd_buffer = 0; |
| |
| c = UDR0; // catch the received byte |
| |
| if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
| |
| // the rxd buffer is unlocked |
| if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
| crc = c; // init crc |
| } |
| #if 0 |
| else if (ptr_rxd_buffer == 1) // handle address |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| #endif |
| else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
| { |
| if(c != '\r') // no termination character |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| else // termination character was received |
| { |
| // the last 2 bytes are no subject for checksum calculation |
| // they are the checksum itself |
| crc -= rxd_buffer[ptr_rxd_buffer-2]; |
| crc -= rxd_buffer[ptr_rxd_buffer-1]; |
| // calculate checksum from transmitted data |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| // compare checksum to transmitted checksum bytes |
| if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
| { // checksum valid |
| rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
| ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
| rxd_buffer_locked = TRUE; // lock the rxd buffer |
| // if 2nd byte is an 'R' enable watchdog that will result in an reset |
| if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
| } |
| else |
| { // checksum invalid |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| ptr_rxd_buffer = 0; // reset rxd buffer pointer |
| } |
| } |
| else // rxd buffer overrun |
| { |
| ptr_rxd_buffer = 0; // reset rxd buffer |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| } |
| |
| |
| // -------------------------------------------------------------------------- |
| void AddCRC(uint16_t datalen) |
| { |
| uint16_t tmpCRC = 0, i; |
| for(i = 0; i < datalen; i++) |
| { |
| tmpCRC += txd_buffer[i]; |
| } |
| tmpCRC %= 4096; |
| txd_buffer[i++] = '=' + tmpCRC / 64; |
| txd_buffer[i++] = '=' + tmpCRC % 64; |
| txd_buffer[i++] = '\r'; |
| txd_complete = FALSE; |
| UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR) |
| } |
| |
| |
| |
| // -------------------------------------------------------------------------- |
| void SendOutData(uint8_t cmd, uint8_t address, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
| { |
| va_list ap; |
| uint16_t pt = 0; |
| uint8_t a,b,c; |
| uint8_t ptr = 0; |
| |
| uint8_t *pdata = 0; |
| int len = 0; |
| |
| txd_buffer[pt++] = '#'; // Start character |
| txd_buffer[pt++] = 'a' + address; // Address (a=0; b=1,...) |
| txd_buffer[pt++] = cmd; // Command |
| |
| va_start(ap, numofbuffers); |
| if(numofbuffers) |
| { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| |
| while(len) |
| { |
| if(len) |
| { |
| a = pdata[ptr++]; |
| len--; |
| if((!len) && numofbuffers) |
| { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| } |
| else a = 0; |
| if(len) |
| { |
| b = pdata[ptr++]; |
| len--; |
| if((!len) && numofbuffers) |
| { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| } |
| else b = 0; |
| if(len) |
| { |
| c = pdata[ptr++]; |
| len--; |
| if((!len) && numofbuffers) |
| { |
| pdata = va_arg(ap, uint8_t*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| } |
| else c = 0; |
| txd_buffer[pt++] = '=' + (a >> 2); |
| txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| txd_buffer[pt++] = '=' + ( c & 0x3f); |
| } |
| va_end(ap); |
| AddCRC(pt); // add checksum after data block and initates the transmission |
| } |
| |
| |
| // -------------------------------------------------------------------------- |
| void Decode64(void) |
| { |
| uint8_t a,b,c,d; |
| uint8_t x,y,z; |
| uint8_t ptrIn = 3; |
| uint8_t ptrOut = 3; |
| uint8_t len = ReceivedBytes - 6; |
| |
| while(len) |
| { |
| a = rxd_buffer[ptrIn++] - '='; |
| b = rxd_buffer[ptrIn++] - '='; |
| c = rxd_buffer[ptrIn++] - '='; |
| d = rxd_buffer[ptrIn++] - '='; |
| //if(ptrIn > ReceivedBytes - 3) break; |
| |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| |
| if(len--) rxd_buffer[ptrOut++] = x; else break; |
| if(len--) rxd_buffer[ptrOut++] = y; else break; |
| if(len--) rxd_buffer[ptrOut++] = z; else break; |
| } |
| pRxData = &rxd_buffer[3]; |
| RxDataLen = ptrOut - 3; |
| } |
| |
| |
| |
| // -------------------------------------------------------------------------- |
| int16_t USART0_putchar (int8_t c) |
| { |
| // if tx is not enabled return immediatly |
| if(!(UCSR0B & (1 << TXEN0))) return (0); |
| if (c == '\n') USART0_putchar('\r'); |
| // wait until previous character was send |
| loop_until_bit_is_set(UCSR0A, UDRE0); |
| // send character |
| UDR0 = c; |
| return (0); |
| } |
| |
| |
| // -------------------------------------------------------------------------- |
| void USART0_ProcessRxData(void) |
| { |
| // if data in the rxd buffer are not locked immediately return |
| if(!rxd_buffer_locked) return; |
| |
| Decode64(); // decode data block in rxd_buffer |
| |
| switch(rxd_buffer[1]-'a') // check Slave Address |
| { |
| case MK3MAG_ADDRESS: |
| |
| switch(rxd_buffer[2]) // check for CmdID |
| { |
| case 'w': // old style |
| case 'k': // Attitude info from FC |
| memcpy(&ExternData, (uint8_t*)pRxData, sizeof(ExternData)); |
| RequestFlags |= RQST_COMPASS_HEADING; |
| AttitudeSource = ATTITUDE_SOURCE_UART; |
| Orientation = ExternData.Orientation; |
| FC_Connected = 255; |
| break; |
| |
| default: |
| // unsupported command |
| break; |
| } // case MK3MAG_ADDRESS: |
| |
| default: // any Slave Address |
| |
| switch(rxd_buffer[2]) // check for CmdID |
| { |
| case 'b': // extern control |
| memcpy(&ExternControl, (uint8_t*)pRxData, sizeof(ExternControl)); |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| // use right arrow at display for switching the calstate |
| if(ExternControl.RemoteButtons & KEY2) |
| { |
| ExternData.CalState++; |
| if(ExternData.CalState == 6) ExternData.CalState = 0; |
| } |
| ConfirmFrame = ExternControl.Frame; |
| PC_Connected = 2000; |
| break; |
| |
| case 'd': // request for the debug data |
| DebugData_Interval = (uint16_t) pRxData[0] * 10; |
| if(DebugData_Interval>0) RequestFlags |= RQST_DEBUG_DATA; |
| PC_Connected = 2000; |
| break; |
| |
| case 'v': // request version and board release |
| RequestFlags |= RQST_VERSION_INFO; |
| PC_Connected = 2000; |
| break; |
| |
| case 'h': // request display data |
| RemoteKeys |= pRxData[0]; |
| if(RemoteKeys) DisplayLine = 0; |
| RequestFlags |= RQST_DISPLAY_DATA; |
| PC_Connected = 2000; |
| break; |
| |
| case 'a':// Labels of the Analog Debug outputs |
| RequestDebugLabel = pRxData[0]; |
| RequestFlags |= RQST_DEBUG_LABEL; |
| PC_Connected = 2000; |
| break; |
| |
| case 'g':// get extern control data |
| RequestFlags |= RQST_EXTERN_CTRL; |
| PC_Connected = 2000; |
| break; |
| |
| default: |
| // unsupported command |
| break; |
| } |
| break; // default: |
| } |
| // unlock the rxd buffer after processing |
| pRxData = 0; |
| RxDataLen = 0; |
| rxd_buffer_locked = FALSE; |
| } |
| |
| |
| |
| //--------------------------------------------------------------------------------------------- |
| void USART0_TransmitTxData(void) |
| { |
| if(!(UCSR0B & (1 << TXEN0))) return; |
| |
| if(!txd_complete) return; |
| |
| if((RequestFlags & RQST_DEBUG_LABEL) && txd_complete) |
| { |
| uint8_t label[16]; |
| memcpy_P(label, ANALOG_LABEL[RequestDebugLabel], 16); // read lable from flash to sram buffer |
| SendOutData('A', MK3MAG_ADDRESS, 2, (uint8_t *)&RequestDebugLabel, sizeof(RequestDebugLabel), label, 16); |
| RequestDebugLabel = 0xFF; |
| RequestFlags &= ~RQST_DEBUG_LABEL; |
| } |
| else if(ConfirmFrame && txd_complete) |
| { |
| SendOutData('B', MK3MAG_ADDRESS, 1, (uint8_t *) &ConfirmFrame, sizeof(ConfirmFrame)); |
| ConfirmFrame = 0; |
| } |
| else if(( ((DebugData_Interval > 0) && CheckDelay(DebugData_Timer)) || (RequestFlags & RQST_DEBUG_DATA)) && txd_complete) |
| { |
| SetDebugValues(); |
| SendOutData('D', MK3MAG_ADDRESS, 1, (uint8_t *) &DebugOut, sizeof(DebugOut)); |
| DebugData_Timer = SetDelay(DebugData_Interval); |
| RequestFlags &= ~RQST_DEBUG_DATA; |
| } |
| else if((RequestFlags & RQST_DISPLAY_DATA) && txd_complete) |
| { |
| LCD_PrintMenu(); |
| SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
| DisplayLine++; |
| if(DisplayLine >= 4) DisplayLine = 0; |
| RequestFlags &= ~RQST_DISPLAY_DATA; |
| } |
| else if((RequestFlags & RQST_EXTERN_CTRL) && txd_complete) |
| { |
| SendOutData('G', MK3MAG_ADDRESS, 1, (uint8_t *) &ExternControl,sizeof(ExternControl)); |
| RequestFlags &= ~RQST_EXTERN_CTRL; |
| } |
| else if((RequestFlags & RQST_COMPASS_HEADING) && txd_complete) |
| { |
| SendOutData('K', FC_ADDRESS, 1, (uint8_t *) &Heading, sizeof(Heading)); // send compass heading to FC |
| RequestFlags &= ~RQST_COMPASS_HEADING; |
| } |
| else if((RequestFlags & RQST_VERSION_INFO) && txd_complete) |
| { |
| SendOutData('V', MK3MAG_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
| RequestFlags &= ~RQST_VERSION_INFO; |
| } |
| } |
| |
| |
| void USART0_Print(int8_t *msg) |
| { |
| uint8_t i = 0; |
| while(msg[i] != 0) |
| { |
| USART0_putchar(msg[i++]); |
| } |
| } |